Merge pull request #90 from gabrielebndn/refactoring

[refactoring] Restructure Python tests

.travis.yml

@@ -5,6 +5,7 @@ env:
     - CTEST_PARALLEL_LEVEL=4
     - CTEST_OUTPUT_ON_FAILURE=1
     - CXX_FLAGS_DEBUG="-O1"
+    - BUILD_PYTHON_INTERFACE=ON
 
 matrix:
   include:
@@ -87,13 +88,17 @@ matrix:
             - eigen
             - octomap
 
+before_install:
+  - if [ "$TRAVIS_OS_NAME" = "linux" ]; then source travis_custom/custom_before_install_linux.sh ; fi
+  - if [ "$TRAVIS_OS_NAME" = "osx" ]; then source travis_custom/custom_before_install_osx.sh ; fi
+
 script:
   # Create build directory
   - mkdir build
   - cd build
 
   # Configure
-  - cmake -DCMAKE_BUILD_TYPE=$BUILD_TYPE -DCMAKE_CXX_FLAGS=-w -DCMAKE_CXX_FLAGS_DEBUG=${CXX_FLAGS_DEBUG} ..
+  - cmake -DCMAKE_BUILD_TYPE=$BUILD_TYPE -DCMAKE_CXX_FLAGS=-w -DCMAKE_CXX_FLAGS_DEBUG=${CXX_FLAGS_DEBUG} -DBUILD_PYTHON_INTERFACE=${BUILD_PYTHON_INTERFACE} ..
 
   # Build
   - make -j4

CMakeLists.txt

@@ -58,7 +58,7 @@ IF(APPLE)
   endif("${isSystemDir}" STREQUAL "-1")
 ENDIF(APPLE)
 
-OPTION(BUILD_PYTHON_INTERFACE OFF)
+OPTION(BUILD_PYTHON_INTERFACE "Build the python bindings" OFF)
 
 # Tell CMake that we compute the PROJECT_VERSION manually.
 CMAKE_POLICY(SET CMP0048 OLD)

python/collision-geometries.cc

@@ -114,7 +114,9 @@ void exposeShapes ()
     ("Box", init<>())
     .def (init<FCL_REAL,FCL_REAL,FCL_REAL>())
     .def (init<Vec3f>())
-    .def_readwrite ("halfSide", &Box::halfSide)
+    .add_property("halfSide",
+                  make_getter(&Box::halfSide, return_value_policy<return_by_value>()),
+                  make_setter(&Box::halfSide, return_value_policy<return_by_value>()));
     ;
 
   class_ <Capsule, bases<ShapeBase>, shared_ptr<Capsule> >

python/math.cc

@@ -69,9 +69,6 @@ void exposeMaths ()
   if(!eigenpy::register_symbolic_link_to_registered_type<Eigen::AngleAxisd>())
     eigenpy::exposeAngleAxis();
 
-  eigenpy::enableEigenPySpecific<Matrix3f>();
-  eigenpy::enableEigenPySpecific<Vec3f   >();
-
   class_ <Transform3f> ("Transform3f", init<>())
     .def (init<Matrix3f, Vec3f>())
     .def (init<Quaternion3f, Vec3f>())

test/CMakeLists.txt

@@ -57,3 +57,8 @@ endif(HPP_FCL_HAVE_OCTOMAP)
 ## Benchmark
 add_executable(test-benchmark benchmark.cpp)
 target_link_libraries(test-benchmark hpp-fcl ${Boost_LIBRARIES} utility)
+
+## Python tests
+IF(BUILD_PYTHON_INTERFACE)
+  ADD_SUBDIRECTORY(python_unit)
+ENDIF(BUILD_PYTHON_INTERFACE)

test/python_unit/CMakeLists.txt

+SET(${PROJECT_NAME}_PYTHON_TESTS
+  geometric_shapes
+  )
+
+FOREACH(TEST ${${PROJECT_NAME}_PYTHON_TESTS})
+  ADD_PYTHON_UNIT_TEST("py-${TEST}" "test/python_unit/${TEST}.py" "python")
+ENDFOREACH(TEST ${${PROJECT_NAME}_PYTHON_TESTS})

test/python_unit/geometric_shapes.py

+import unittest
+import hppfcl
+hppfcl.switchToNumpyMatrix()
+import numpy as np
+
+class TestGeometricShapes(unittest.TestCase):
+
+    def test_capsule(self):
+        capsule = hppfcl.Capsule(1.,2.)
+        self.assertIsInstance(capsule, hppfcl.Capsule)
+        self.assertIsInstance(capsule, hppfcl.ShapeBase)
+        self.assertIsInstance(capsule, hppfcl.CollisionGeometry)
+        self.assertEqual(capsule.getNodeType(), hppfcl.NODE_TYPE.GEOM_CAPSULE)
+        self.assertEqual(capsule.radius,1.)
+        self.assertEqual(capsule.lz,2.)
+        capsule.radius = 3.
+        capsule.lz = 4.
+        self.assertEqual(capsule.radius,3.)
+        self.assertEqual(capsule.lz,4.)
+
+    def test_box1(self):
+        box = hppfcl.Box(np.matrix([1.,2.,3.]).T)
+        self.assertIsInstance(box, hppfcl.Box)
+        self.assertIsInstance(box, hppfcl.ShapeBase)
+        self.assertIsInstance(box, hppfcl.CollisionGeometry)
+        self.assertEqual(box.getNodeType(), hppfcl.NODE_TYPE.GEOM_BOX)
+        self.assertTrue(np.array_equal(box.halfSide,np.matrix([.5,1.,1.5]).T))
+        box.halfSide = np.matrix([4.,5.,6.]).T
+        self.assertTrue(np.array_equal(box.halfSide,np.matrix([4.,5.,6.]).T))
+
+    def test_box2(self):
+        box = hppfcl.Box(1.,2.,3)
+        self.assertIsInstance(box, hppfcl.Box)
+        self.assertIsInstance(box, hppfcl.ShapeBase)
+        self.assertIsInstance(box, hppfcl.CollisionGeometry)
+        self.assertEqual(box.getNodeType(), hppfcl.NODE_TYPE.GEOM_BOX)
+        self.assertEqual(box.halfSide[0],0.5)
+        self.assertEqual(box.halfSide[1],1.0)
+        self.assertEqual(box.halfSide[2],1.5)
+        box.halfSide[0] = 4.
+        box.halfSide[0] = 5.
+        box.halfSide[0] = 6.
+#         self.assertEqual(box.halfSide[0],4.)
+#         self.assertEqual(box.halfSide[1],5.)
+#         self.assertEqual(box.halfSide[2],6.)
+
+    def test_sphere(self):
+        sphere = hppfcl.Sphere(1.)
+        self.assertIsInstance(sphere, hppfcl.Sphere)
+        self.assertIsInstance(sphere, hppfcl.ShapeBase)
+        self.assertIsInstance(sphere, hppfcl.CollisionGeometry)
+        self.assertEqual(sphere.getNodeType(), hppfcl.NODE_TYPE.GEOM_SPHERE)
+        self.assertEqual(sphere.radius,1.)
+        sphere.radius = 2.
+        self.assertEqual(sphere.radius,2.)
+
+    def test_cylinder(self):
+        cylinder = hppfcl.Cylinder(1.,2.)
+        self.assertIsInstance(cylinder, hppfcl.Cylinder)
+        self.assertIsInstance(cylinder, hppfcl.ShapeBase)
+        self.assertIsInstance(cylinder, hppfcl.CollisionGeometry)
+        self.assertEqual(cylinder.getNodeType(), hppfcl.NODE_TYPE.GEOM_CYLINDER)
+        self.assertEqual(cylinder.radius,1.)
+        self.assertEqual(cylinder.lz,2.)
+
+    def test_cone(self):
+        cone = hppfcl.Cone(1.,2.)
+        self.assertIsInstance(cone, hppfcl.Cone)
+        self.assertIsInstance(cone, hppfcl.ShapeBase)
+        self.assertIsInstance(cone, hppfcl.CollisionGeometry)
+        self.assertEqual(cone.getNodeType(), hppfcl.NODE_TYPE.GEOM_CONE)
+        self.assertEqual(cone.radius,1.)
+        self.assertEqual(cone.lz,2.)
+        cone.radius = 3.
+        cone.lz = 4.
+        self.assertEqual(cone.radius,3.)
+        self.assertEqual(cone.lz,4.)
+
+if __name__ == '__main__':
+    unittest.main()
\ No newline at end of file

travis_custom/custom_before_install_linux.sh

+# Add robotpkg
+sudo sh -c "echo \"deb [arch=amd64] http://robotpkg.openrobots.org/packages/debian/pub $(lsb_release -cs) robotpkg\" >> /etc/apt/sources.list"
+curl http://robotpkg.openrobots.org/packages/debian/robotpkg.key | sudo apt-key add -
+sudo apt-get update
+
+# install eigenpy
+sudo apt-get -qqy install robotpkg-py27-eigenpy
+
+# set environment variables
+export PKG_CONFIG_PATH="${PKG_CONFIG_PATH}:/opt/openrobots/lib/pkgconfig"
+export LD_LIBRARY_PATH="${LD_LIBRARY_PATH}:/opt/openrobots/lib"
\ No newline at end of file

travis_custom/custom_before_install_osx.sh

+# Add gepetto tap
+brew tap gepetto/homebrew-gepetto
+
+# install eigenpy
+brew install eigenpy
+
+# set environment variables
+export PKG_CONFIG_PATH="${PKG_CONFIG_PATH}:/opt/openrobots/lib/pkgconfig"
+export LD_LIBRARY_PATH="${LD_LIBRARY_PATH}:/opt/openrobots/lib"
\ No newline at end of file